change CG tolerance criterion

src/BulletSoftBody/btConjugateGradient.h

@@ -48,7 +48,7 @@ public:
         A.precondition(r, z);
         A.project(z);
         btScalar r_dot_z = dot(z,r);
-        if (r_dot_z < tolerance) {
+        if (dot(z,z) < tolerance) {
             if (verbose)
             {
                 std::cout << "Iteration = 0" << std::endl;

src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp

@@ -131,12 +131,12 @@ void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &r
 
 btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const
 {
-    btScalar norm_squared = 0;
+    btScalar mag = 0;
     for (int i = 0; i < residual.size(); ++i)
     {
-        norm_squared += residual[i].length2();
+        mag += residual[i].length();
     }
-    return std::sqrt(norm_squared);
+    return mag;
 }
 
 void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force)

src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h

@@ -73,7 +73,7 @@ public:
         m_sbi.m_broadphase = pairCache;
         m_sbi.m_dispatcher = dispatcher;
         m_sbi.m_sparsesdf.Initialize();
-        m_sbi.m_sparsesdf.setDefaultVoxelsz(0.025);
+        m_sbi.m_sparsesdf.setDefaultVoxelsz(0.005);
         m_sbi.m_sparsesdf.Reset();
         
         m_sbi.air_density = (btScalar)1.2;

src/BulletSoftBody/btDeformableNeoHookeanForce.h

@@ -31,7 +31,7 @@ public:
         m_lambda_damp = damping * m_lambda;
     }
     
-    btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.005): m_mu(mu), m_lambda(lambda)
+    btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda)
     {
         m_mu_damp = damping * m_mu;
         m_lambda_damp = damping * m_lambda;